Charlie Sheen to Brooke Mueller: 'Tell Me Where Our Sons Are'

Charlie Sheen says he remained calm when authorities took his twins from him on Tuesday night – but claims his home is "a hundred thousand times better" for the boys than being in the care of their mother, Brooke Mueller.

"I stayed very calm and focused," Sheen, 45, said Wednesday morning on NBC's Today show. To Bob and Max, "I said, 'I love you.' And I said, 'Don't say goodbye. Say see you later.' And later is, we believe to be, very soon."

But as of Wednesday morning, the troubled Two and a Half Men actor said he didn't know where his sons were. Looking directly into the camera, he delivered a pointed message to Mueller, 33.

"Brooke, I'm sorry you felt this had to be done in this way, but this does not display any responsible parenting that I'm familiar with," he said. "I think that cooler and smarter, leveler heads can prevail, and I urge you to reach out to me, immediately if not sooner, and tell me where our sons are."

Sheen, who appeared on the NBC program at 4:30 in the morning outside his L.A. home with his lawyer at his side, said he is open to negotiating with Mueller, but didn't mince words in comparing his environment to hers.

"There's more love, compassion, support, childcare and everything else you could possibly want for a child in this lovely home," he said of his own Beverly Hills mansion. "It's a hundred thousand times better than what's going to be delivered or offered in her house."

In the coming days, Sheen added, his main task is "bringing these two beautiful young men back to the home that they deserve to be raised in."

Wednesday morning, Mueller's mother, Moira Fiore told PEOPLE, "I'm with Brooke and the babies. They are so good and happy. Charlie's not too happy."

For much more on Charlie Sheen, including the childhood influence of his father's Vietnam war epic Apocalypse Now, his thoughts on his exes and his prediction about the future of Two and a Half Men, pick up this week's issue of PEOPLE, on newsstands Friday